Three-Dimensional Reconstruction And Adhesive Trajectory Planning Of Satellite Components

With the enhancement of China’s comprehensive national strength,the aerospace industry is also rapidly developing.However,there are still many problems in the production process of aerospace satellite components,such as the surface adhesive coating of structural plate workpieces.For example,manual adhesive application leads to low automation,poor consistency,low efficiency,and difficult to control adhesive quality.Therefore,studying how to improve the automation level,accuracy,and quality of adhesive coating for satellite components is of practical engineering significance to the aerospace industry.This article proposes to reconstruct the three-dimensional surface of satellite component adhesive coating and use it for trajectory planning.The 3D reconstruction technology is applied to automatic surface adhesive coating robots,aiming to improve the automation level of surface adhesive coating equipment and the control accuracy of adhesive coating technology in the aerospace industry.The main research content and achievements of this article are as follows:(1)Multiple point cloud data segments are collected through a 3D laser scanner,and after preprocessing,point cloud stitching is performed using3D-NDT coarse registration and ICP fine registration to obtain complete point cloud data for satellite components.The point cloud is smoothed and densified by MLS,and Poisson reconstruction algorithm is used for 3D surface reconstruction.(2)The upper computer interaction interface reads DXF format drawing files and performs adhesive coating operations.The transformation relationship between the drawing coordinate system and the actual point cloud coordinate system is obtained through SVD decomposition for workpiece positioning,and the point cloud boundary of the Alpha Shape concave hull algorithm is optimized through point cloud interpolation constraint.After filling the holes in the point cloud,the crop hull filter is used to extract point cloud data within the concave hull boundary,and the adhesive coating trajectory points are extracted by equidistant cutting with point cloud sparsification.The trajectory is generated through Euclidean clustering segmentation and NURBS spatial curve fitting.(3)Combining the application scenarios and technical indicators of satellite component adhesive coating,a 3D point cloud data algorithm processing software is designed for the five-degree-of-freedom robotic arm.Experiments verified the effectiveness of point cloud stitching,3D surface reconstruction,and trajectory planning,indicating that the method can meet the relevant quality indicators for adhesive coating.